From 4f2b826adc9000017d019b7e3dee0dc05bde85f6 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Wed, 19 Feb 2025 14:56:41 +0100
Subject: [PATCH] [skip ci] applied clang format
---
include/core/factor/factor_autodiff.h | 39 +++++++++++++++++----------
src/factor/factor_analytic.cpp | 2 +-
2 files changed, 26 insertions(+), 15 deletions(-)
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 6b2b1d2be..f3991813d 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -1657,8 +1657,15 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0
// only residuals
if (jacobians == nullptr)
{
- return (*static_cast<FacT const*>(this))(
- params[0], params[1], params[2], params[3], params[4], params[5], params[6], params[7], residuals);
+ return (*static_cast<FacT const*>(this))(params[0],
+ params[1],
+ params[2],
+ params[3],
+ params[4],
+ params[5],
+ params[6],
+ params[7],
+ residuals);
}
// also compute jacobians
else
@@ -1836,8 +1843,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0,
// only residuals
if (jacobians == nullptr)
{
- return (*static_cast<FacT const*>(this))(
- params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals);
+ return (*static_cast<FacT const*>(
+ this))(params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals);
}
// also compute jacobians
else
@@ -2009,8 +2016,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0,
// only residuals
if (jacobians == nullptr)
{
- return (*static_cast<FacT const*>(this))(
- params[0], params[1], params[2], params[3], params[4], params[5], residuals);
+ return (*static_cast<FacT const*>(
+ this))(params[0], params[1], params[2], params[3], params[4], params[5], residuals);
}
// also compute jacobians
else
@@ -2232,8 +2239,12 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
updateJetsRealPart(_states_ptr);
// call functor
- bool res = (*static_cast<FacT const*>(this))(
- jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), jets_4_.data(), residuals_jets_.data());
+ bool res = (*static_cast<FacT const*>(this))(jets_0_.data(),
+ jets_1_.data(),
+ jets_2_.data(),
+ jets_3_.data(),
+ jets_4_.data(),
+ residuals_jets_.data());
if (not res) return false;
// fill the residual vector
@@ -2338,8 +2349,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(param_vec);
// call functor
- bool res = (*static_cast<FacT const*>(this))(
- jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
+ bool res = (*static_cast<FacT const*>(
+ this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
if (not res) return false;
// fill the residual array
@@ -2378,8 +2389,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(_states_ptr);
// call functor
- bool res = (*static_cast<FacT const*>(this))(
- jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
+ bool res = (*static_cast<FacT const*>(
+ this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
if (not res) return false;
// fill the residual vector
@@ -2482,8 +2493,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
updateJetsRealPart(param_vec);
// call functor
- bool res = (*static_cast<FacT const*>(this))(
- jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data());
+ bool res = (*static_cast<FacT const*>(
+ this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data());
if (not res) return false;
// fill the residual array
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 77cca6cb1..569d4cf37 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -92,7 +92,7 @@ bool FactorAnalytic::evaluate(const std::vector<const double*>& _states_ptr,
// compute jacobians
jacobians_.resize(state_block_sizes_.size());
evaluateJacobians(state_blocks_map_, jacobians_, std::vector<bool>(state_block_sizes_.size(), true));
-
+
return true;
};
--
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